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Finger Unit Design for Hybrid-Driven Dexterous Hands.

Chong Deng1, Wenhao Lu1, Yizhou Qian2

  • 1School of Intelligent Manufacturing, Jiangnan University, Wuxi 214122, China.

Biomimetics (Basel, Switzerland)
|January 27, 2026
PubMed
Summary
This summary is machine-generated.

This study introduces a novel hybrid-driven index finger unit for humanoid robots, achieving three-degree-of-freedom (3-DOF) motion. This design enhances dexterity and simplifies manufacturing for advanced robotic hands.

Keywords:
anthropomorphicdexterous single-fingered handlink-drivenpendulum-measuringtendon-driven

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Humanoid Robot Design

Background:

  • Dexterous hands are crucial for humanoid robot functionality.
  • Achieving three-degree-of-freedom (3-DOF) anthropomorphic motion in finger units is a significant design challenge.

Purpose of the Study:

  • To propose a novel hybrid-driven index finger unit for humanoid robots.
  • To realize 3-DOF anthropomorphic motion by combining linkage and tendon-cable drive mechanisms.

Main Methods:

  • Developed a hybrid-driven index finger unit integrating linkage and tendon-cable systems.
  • Implemented independent drive/transmission modules for simplified manufacturing and optimization.
  • Validated the design through motion dynamics, DOF, and operational force assessments.

Main Results:

  • Successfully achieved 3-DOF anthropomorphic motion in the index finger unit.
  • Demonstrated simplified manufacturing and enhanced parameter optimization flexibility.
  • Validated performance through comprehensive motion dynamics and force assessments.

Conclusions:

  • The proposed hybrid-driven finger unit offers key technology for developing dexterous humanoid robot hands.
  • This design serves as a valuable reference for optimizing multi-DOF anthropomorphic finger mechanisms.